Masoud Mirmomeni - Amirkabir University of Technology
Masoud Shafiee - Amirkabir University of Technology
Seyed Mojtaba Miri - Amirkabir University of Technology

In this paper, the optimal tracking problem of a constrained dynamic system "mobile robot" is considered with the aid of singular systems theorem. First, a singular model for mobile robot is given. This model includes some ordinary differential equations and some algebraic equations as constraints on kinema tics and dynamics of mobile robots si~nultaneously in tracking problem. It is shown that such ~nodels have better performance among other modeling methods in describing input-output relations ill mobile robot. After modeling mobile robot, this model is applied to design an opti~nal controller for tracking problem in mobile robot. Siinirlation results depict the great performance of proposed method in compare ofother methods.

Mobile robot, optimal control, tracking, Ricatti equation, singular systems